Kinematic equations of robot manipulators
The solution of the joint coordinates, given the cartesian coordinates of the end-effector, is found by breaking the problem into two parts. Solutions for the arm and wrist motions of most commercially available manipulators are found and a method for combining these solutions into the total manipulator motion is presented. The method presented simplifies the solutions to multiple end-effector problems tremendously, while simultaneously reducing the number of mathematical operations needed to find the solution.
KeywordsTransformation Matrix Kinematic Model Local Coordinate System Robot Manipulator Kinematic Chain
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